Back-Support Exoskeletons for Occupational Use: An Overview of Technological Advances and Trends

OCCUPATIONAL APPLICATIONSMany new occupational back-support exoskeletons have been developed in the past few years both as research prototypes and as commercial products. These devices are intended..

System Identification of Bipedal Locomotion in Robots and Humans

The ability to perform a healthy walking gait can be altered in numerous cases due to gait disorder related pathologies. The latter could lead to partial or complete mobility loss, which affects the patients’ quality of life. Wearable exoskeletons and active prosthetics have been considered as a key component to remedy this mobility loss. The control of such devices knows numerous challenges that are yet to be addressed. As opposed to fixed trajectories control, real-time adaptive reference generation control is likely to provide the wearer with more intent control over the powered device. We propose a novel gait pattern generator for the control of such devices, taking advantage of the inter-joint coordination in the human gait. Our proposed method puts the user in the control loop as it maps the motion of healthy limbs to that of the affected one. To design such control strategy, it is critical to understand the dynamics behind bipedal walking. We begin by studying the simple compass gait walker. We examine the well-known Virtual Constraints method of controlling bipedal robots in the image of the compass gait. In addition, we provide both the mechanical and control design of an affordable research platform for bipedal dynamic walking. We then extend the concept of virtual constraints to human locomotion, where we investigate the accuracy of predicting lower limb joints angular position and velocity from the motion of the other limbs. Data from nine healthy subjects performing specific locomotion tasks were collected and are made available online. A successful prediction of the hip, knee, and ankle joints was achieved in different scenarios. It was also found that the motion of the cane alone has sufficient information to help predict good trajectories for the lower limb in stairs ascent. Better estimates were obtained using additional information from arm joints. We also explored the prediction of knee and ankle trajectories from the motion of the hip joints

Humanoid Robots

For many years, the human being has been trying, in all ways, to recreate the complex mechanisms that form the human body. Such task is extremely complicated and the results are not totally satisfactory. However, with increasing technological advances based on theoretical and experimental researches, man gets, in a way, to copy or to imitate some systems of the human body. These researches not only intended to create humanoid robots, great part of them constituting autonomous systems, but also, in some way, to offer a higher knowledge of the systems that form the human body, objectifying possible applications in the technology of rehabilitation of human beings, gathering in a whole studies related not only to Robotics, but also to Biomechanics, Biomimmetics, Cybernetics, among other areas. This book presents a series of researches inspired by this ideal, carried through by various researchers worldwide, looking for to analyze and to discuss diverse subjects related to humanoid robots. The presented contributions explore aspects about robotic hands, learning, language, vision and locomotion

An Insight into the acceptable use and assessment of lower-limb running prostheses in disability sport.

Sports technology can be any product or system used to facilitate, train or influence an athlete’s performance. The role of prostheses used for disability sport was initially to help facilitate exercise and then ultimately, competition. In able-bodied sport, controversy has occasionally been caused through the adoption or introduction of sports technology. However, scant attention has been paid to sport with a disability with respect to such concerns. This research project provides a novel contribution to knowledge by investigating the use of lower-limb running prostheses in competition by trans-tibial amputees. A novel study using a mixed method approach has investigated the nature, use and assessment of lower-limb running prostheses. It has proposed that the unchecked introduction of such technology has affected the sport negatively. From this, the study conducted a stakeholder assessment of the sport and provided a proposed series of guidelines for lower-limb prostheses technology inclusion. Finally, the recommendation was made that a proactive approach to such technologies’ inclusion in the future should be implemented. These guidelines were further developed by assessing symmetrical and nonsymmetrical lower-limb function and proposed that single and double lowerlimb amputees should be separated in competition in the future. To this end, it was proposed that lower-limb symmetry, stiffness and energy return were important means of monitoring prosthesis performance. Ultimately, a dynamic technique which assesses these qualities was proposed as an assessment strategy for further development in the future

Remote-controlled ambidextrous robot hand actuated by pneumatic muscles: from feasibility study to design and control algorithms

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University LondonThis thesis relates to the development of the Ambidextrous Robot Hand engineered in Brunel University. Assigned to a robotic hand, the ambidextrous feature means that two different behaviours are accessible from a single robot hand, because of its fingers architecture which permits them to bend in both ways. On one hand, the robotic device can therefore behave as a right hand whereas, on another hand, it can behave as a left hand. The main contribution of this project is its ambidextrous feature, totally unique in robotics area. Moreover, the Ambidextrous Robot Hand is actuated by pneumatic artificial muscles (PAMs), which are not commonly used to drive robot hands. The type of the actuators consequently adds more originality to the project. The primary challenge is to reach an ambidextrous behaviour using PAMs designed to actuate non-ambidextrous robot hands. Thus, a feasibility study is carried out for this purpose. Investigating a number of mechanical possibilities, an ambidextrous design is reached with features almost identical for its right and left sides. A testbench is thereafter designed to investigate this possibility even further to design ambidextrous fingers using 3D printing and an asymmetrical tendons routing engineered to reduce the number of actuators. The Ambidextrous Robot Hand is connected to a remote control interface accessible from its website, which provides video streaming as feedback, to be eventually used as an online rehabilitation device. The secondary main challenge is to implement control algorithms on a robot hand with a range twice larger than others, with an asymmetrical tendons routing and actuated by nonlinear actuators. A number of control algorithms are therefore investigated to interact with the angular displacement of the fingers and the grasping abilities of the hand. Several solutions are found out, notably the implementations of a phasing plane switch control and a sliding-mode control, both specific to the architecture of the Ambidextrous Robot Hand. The implementation of these two algorithms on a robotic hand actuated by PAMs is almost as innovative as the ambidextrous design of the mechanical structure itself

Militarism, Security, and War: The Politics of Contemporary Hollywood Superheroes

In the fields of political science and international relations, engagement with popular culture has been deemed predominantly un-important and irrelevant as an area of study. This dissertation interrogates one of the most popular cultural icons of the early 21st century, the fictional Hollywood superhero, and asks what it does for us to take seriously that which is often deemed frivolous entertainment. Understanding the superhero as a political entity in and of itself, this project reveals the mutually constitutive relationship between its production, consumption and reproduction and particular ideologies around militarism, security and war. Acknowledging the complexities of superhero characters, narratives, and aesthetics such as subversive and contested elements, this project reveals superheroes as potential sites of political and ideological reflection, articulation, constitution, and transgression. This project demonstrates that a pop cultural/aesthetic approach to IR can enable critical practices that contribute to complicating and enhancing our understandings of war and politics

Biomechanical evaluation of prosthetic feet

An evaluation method was developed which can be used generally for the assessment of any prosthetic feet. The two most common prosthetic feet prescribed to below-knee and above-knee amputees are the Uniaxial and SACH feet. A review of prescription practices shows that in the United Kingdom about 80% of the below-knee and above-knee amputees are fitted with a Uniaxial foot, whereas in the United States about 80% are fitted with the SACH foot. These contradictory prescription practices between the two countries, prompted the project to be concentrated on the evaluation of the SACH and Uniaxial feet. The method developed includes a subjective assessment procedure and a biomechanical evaluation on the function of the two prosthetic feet and their effects on whole body gait kinematics and lower limb kinetics. A review of the methods used in gait analysis is presented in the thesis. This forms a basis for the selection of a suitable gait recording system for the project. A background study of lower limb prosthetics in general and a review of prosthetic ankle/foot assemblies in particular are also presented. The methodology and instrumentation used in the project are given. Altogether, six below-knee and five above-knee amputees were tested. Due to insufficient supply of heel bumper stiffness by the manufacturer for the Uniaxial foot, heel bumpers of varying stiffnesses had to be made in the Bioengineering Unit. The development of the analytical procedure for the three-dimensional analysis is presented. A suite of computer programs was written to facilitate the handling of the large amount of data, details of which are included in the Appendix. Results from the analysis of the tests performed are discussed. Although some apparent differences were observed between the SACH and Uniaxial feet, no conclusion can be drawn as to which is better for the function of the amputee.An evaluation method was developed which can be used generally for the assessment of any prosthetic feet. The two most common prosthetic feet prescribed to below-knee and above-knee amputees are the Uniaxial and SACH feet. A review of prescription practices shows that in the United Kingdom about 80% of the below-knee and above-knee amputees are fitted with a Uniaxial foot, whereas in the United States about 80% are fitted with the SACH foot. These contradictory prescription practices between the two countries, prompted the project to be concentrated on the evaluation of the SACH and Uniaxial feet. The method developed includes a subjective assessment procedure and a biomechanical evaluation on the function of the two prosthetic feet and their effects on whole body gait kinematics and lower limb kinetics. A review of the methods used in gait analysis is presented in the thesis. This forms a basis for the selection of a suitable gait recording system for the project. A background study of lower limb prosthetics in general and a review of prosthetic ankle/foot assemblies in particular are also presented. The methodology and instrumentation used in the project are given. Altogether, six below-knee and five above-knee amputees were tested. Due to insufficient supply of heel bumper stiffness by the manufacturer for the Uniaxial foot, heel bumpers of varying stiffnesses had to be made in the Bioengineering Unit. The development of the analytical procedure for the three-dimensional analysis is presented. A suite of computer programs was written to facilitate the handling of the large amount of data, details of which are included in the Appendix. Results from the analysis of the tests performed are discussed. Although some apparent differences were observed between the SACH and Uniaxial feet, no conclusion can be drawn as to which is better for the function of the amputee

2017 - The Twenty-second Annual Symposium of Student Scholars

The full program book from the Twenty-second Annual Symposium of Student Scholars, held on April 20, 2017. Includes abstracts from the presentations and posters.https://digitalcommons.kennesaw.edu/sssprograms/1019/thumbnail.jp

Towards a Legal end Ethical Framework for Personal Care Robots. Analysis of Person Carrier, Physical Assistant and Mobile Servant Robots.

Technology is rapidly developing, and regulators and robot creators inevitably have to come to terms with new and unexpected scenarios. A thorough analysis of this new and continuosuly evolving reality could be useful to better understand the current situation and pave the way to the future creation of a legal and ethical framework. This is clearly a wide and complex goal, considering the variety of new technologies available today and those under development. Therefore, this thesis focuses on the evaluation of the impacts of personal care robots. In particular, it analyzes how roboticists adjust their creations to the existing regulatory framework for legal compliance purposes. By carrying out an impact assessment analysis, existing regulatory gaps and lack of regulatory clarity can be highlighted. These gaps should of course be considered further on by lawmakers for a future legal framework for personal care robot. This assessment should be made first against regulations. If the creators of the robot do not encounter any limitations, they can then proceed with its development. On the contrary, if there are some limitations, robot creators will either (1) adjust the robot to comply with the existing regulatory framework; (2) start a negotiation with the regulators to change the law; or (3) carry out the original plan and risk to be non-compliant. The regulator can discuss existing (or lacking) regulations with robot developers and give a legal response accordingly. In an ideal world, robots are clear of impacts and therefore threats can be responded in terms of prevention and opportunities in form of facilitation. In reality, the impacts of robots are often uncertain and less clear, especially when they are inserted in care applications. Therefore, regulators will have to address uncertain risks, ambiguous impacts and yet unkown effects